#udev
#20240604   ShanghaoJiaoDa
SUBSYSTEM=="tty", ATTRS{serial}=="A10PCYXQ", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1",SYMLINK+="ttyDXL_puppet_right"
SUBSYSTEM=="tty", ATTRS{serial}=="A10PCYWR", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1",SYMLINK+="ttyDXL_master_right"
SUBSYSTEM=="tty", ATTRS{serial}=="A10PCMMQ", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1",SYMLINK+="ttyDXL_master_left"
SUBSYSTEM=="tty", ATTRS{serial}=="A10PCMMR", ENV{ID_MM_DEVICE_IGNORE}="1", ATTR{device/latency_timer}="1",SYMLINK+="ttyDXL_puppet_left"

#camera 1 ID
130322273070
#camera 2
130322272726
#camera 3
130322272027
#camera 4
130322273226

#启动手臂
roslaunch aloha 4arms_teleop.launch

#开始遥控操作
cd ~/interbotix_ws/src/aloha/aloha_scripts

python3 one_side_teleop.py right

python3 one_side_teleop.py left

#启动手臂

roslaunch aloha 4arms_teleop.launch

#启动D405相机

roslaunch realsense2_camera rs_camera.launch camera:=cam_high serial_no:=130322273070

roslaunch realsense2_camera rs_camera.launch camera:=cam_low serial_no:=130322272726

roslaunch realsense2_camera rs_camera.launch camera:=cam_left_wrist serial_no:=130322272027

roslaunch realsense2_camera rs_camera.launch camera:=cam_right_wrist serial_no:=130322273226

#开始遥控操作

cd ~/interbotix_ws/src/aloha/aloha_scripts

python3 one_side_teleop.py right

python3 one_side_teleop.py left

#shouji

python3 record_episodes.py --task_name operation_test --episode_idx 0

#replay
python3 replay_episodes.py --dataset_dir ~/data/operation_test --episode_idx 1

#keshihua
python3 visualize_episodes.py --dataset_dir ~/data/operation_test --episode_idx 0
